ABB IRC5 with FlexPendant, Operating Manual

Page: 141 / 306

4.6.8 Incremental movement for precise positioning
Incremental movement
Use incremental movement to jog the robot in small steps, which enables very
precise positioning.
This means that each time the joystick is deflected, the robot moves one step
(increment). If the joystick is deflected for one or more seconds, a sequence of
steps, (at a rate of 10 steps per second), will be performed as long as the joystick
is deflected.
Default mode is no increment, then the robot moves continuously when the joystick
is deflected.
There are three ways to select the increment size:
• Using the Toggle increments button.
• Using thee Jogging window on the ABB menu.
• Using the Quickset menu Increments , see Quickset menu, Increment on
page 84 .
To use the toggle button you must first select an increment size in the Jogging
window or Quickset menu.
Selecting increments using the toggle button
Press the Toggle increments button to switch increment size, you toggle between
no increments and the increment size you previously selected in the Jogging
window.
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Selecting increments in the Jogging window
Use this procedure to select the incremental movement size using the Jogging
window.
Action
On the ABB menu, tap Jogging . 1
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Operating manual - IRC5 with FlexPendant 141
3HAC050941-001 Revision: G
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4 Jogging
4.6.8 Incremental movement for precise positioning